Backup trajectory converter for controlling a vehicle

Abstract

Disclosed are systems and techniques for controlling one or more operations of a vehicle. For example, according to some aspects, a process may include determining a path associated with the vehicle and determining at least two points on the path located closest to a pose of the vehicle. The process may include determining a measurement point on a segment between at least two points that is closest to the pose of the vehicle. The process may further include determining a lateral offset, a heading offset, and/or a curvature of the path based on at least two points and the measurement point.

What is claimed is: 
     
         1 . A method for controlling one or more operations of a vehicle, comprising:
 determining a path associated with the vehicle;   determining at least two points on the path located closest to a pose of the vehicle;   determining a measurement point on a segment between the at least two points that is closest to the pose of the vehicle; and   determining a curvature of the path based on the at least two points and the measurement point.   
     
     
         2 . The method of  claim 1 , further comprising converting trajectory points into a plurality of trajectory segments. 
     
     
         3 . The method of  claim 2 , further comprising determining the path by converting the plurality of trajectory segments to an absolute path in an absolute coordinate frame. 
     
     
         4 . The method of  claim 3 , further comprising:
 determining the path by interpolating the trajectory points on the absolute path to generate one or more interpolated points, wherein the determined path includes the one or more interpolated points and the trajectory points.   
     
     
         5 . The method of  claim 4 , wherein the at least two points are determined from the one or more interpolated points. 
     
     
         6 . The method of  claim 1 , further comprising determining a lateral offset between an additional measurement point and the pose of the vehicle. 
     
     
         7 . The method of  claim 6 , further comprising determining the additional measurement point by interpolating the path with the measurement point. 
     
     
         8 . The method of  claim 1 , further comprising determining a heading offset of the vehicle relative to the path based on a difference between an angle of a direction of the vehicle and an angle of a direction of the at least two points. 
     
     
         9 . The method of  claim 1 , wherein determining the curvature of the path comprises determining a rate of change of an angle of a direction of the at least two points with respect to a longitudinal distance of the path. 
     
     
         10 . An apparatus for controlling one or more operations of a vehicle, the apparatus comprising:
 at least one memory; and   at least one processor coupled to the at least one memory and configured to:
 determine a path associated with the vehicle; 
 determine at least two points on the path located closest to a pose of the vehicle; 
 determine a measurement point on a segment between the at least two points that is closest to the pose of the vehicle; and 
 determine a curvature of the path based on the at least two points and the measurement point. 
   
     
     
         11 . The apparatus of  claim 10 , wherein the at least one processor is configured to convert trajectory points into a plurality of trajectory segments. 
     
     
         12 . The apparatus of  claim 11 , wherein the at least one processor is configured to determine the path by converting the plurality of trajectory segments to an absolute path in an absolute coordinate frame. 
     
     
         13 . The apparatus of  claim 12 , wherein the at least one processor is configured to:
 determine the path by interpolating the trajectory points on the absolute path to generate one or more interpolated points, wherein the determined path includes the one or more interpolated points and the trajectory points.   
     
     
         14 . The apparatus of  claim 13 , wherein the at least two points are determined from the one or more interpolated points. 
     
     
         15 . The apparatus of  claim 10 , wherein the at least one processor is configured to determine a lateral offset between an additional measurement point and the pose of the vehicle. 
     
     
         16 . The apparatus of  claim 15 , wherein the at least one processor is configured to determine the additional measurement point by interpolating the path with the measurement point. 
     
     
         17 . The apparatus of  claim 10 , wherein the at least one processor is configured to determine a heading offset of the vehicle relative to the path based on a difference between an angle of a direction of the vehicle and an angle of a direction of the at least two points. 
     
     
         18 . The apparatus of  claim 10 , wherein, to determine the curvature of the path, the at least one processor is configured to determine a rate of change of an angle of a direction of the at least two points with respect to a longitudinal distance of the path. 
     
     
         19 . The apparatus of  claim 10 , wherein the apparatus is the vehicle. 
     
     
         20 . The apparatus of  claim 10 , wherein the apparatus is a component of a vehicle controller of the vehicle. 
     
     
         21 . The apparatus of  claim 20 , wherein the component of the vehicle controller includes a backup trajectory converter. 
     
     
         22 . A non-transitory computer-readable medium of a vehicle, the non-transitory computer-readable medium having stored thereon instructions that, when executed by one or more processors, cause the one or more processors to:
 determine a path associated with the vehicle;   determine at least two points on the path located closest to a pose of the vehicle;   determine a measurement point on a segment between the at least two points that is closest to the pose of the vehicle; and   determine a curvature of the path based on the at least two points and the measurement point.   
     
     
         23 . The non-transitory computer-readable medium of  claim 22 , wherein the instructions, when executed by the one or more processors, cause the one or more processors to convert trajectory points into a plurality of trajectory segments. 
     
     
         24 . The non-transitory computer-readable medium of  claim 23 , wherein the instructions, when executed by the one or more processors, cause the one or more processors to determine the path by converting the plurality of trajectory segments to an absolute path in an absolute coordinate frame. 
     
     
         25 . The non-transitory computer-readable medium of  claim 24 , wherein the instructions, when executed by the one or more processors, cause the one or more processors to:
 determine the path by interpolating the trajectory points on the absolute path to generate one or more interpolated points, wherein the determined path includes the one or more interpolated points and the trajectory points.   
     
     
         26 . The non-transitory computer-readable medium of  claim 25 , wherein the at least two points are determined from the one or more interpolated points. 
     
     
         27 . The non-transitory computer-readable medium of  claim 22 , wherein the instructions, when executed by the one or more processors, cause the one or more processors to determine a lateral offset between an additional measurement point and the pose of the vehicle. 
     
     
         28 . The non-transitory computer-readable medium of  claim 27 , wherein the instructions, when executed by the one or more processors, cause the one or more processors to determine the additional measurement point by interpolating the path with the measurement point. 
     
     
         29 . The non-transitory computer-readable medium of  claim 22 , wherein the instructions, when executed by the one or more processors, cause the one or more processors to determine a heading offset of the vehicle relative to the path based on a difference between an angle of a direction of the vehicle and an angle of a direction of the at least two points. 
     
     
         30 . The non-transitory computer-readable medium of  claim 22 , wherein, to determine the curvature of the path, the instructions, when executed by the one or more processors, cause the one or more processors to determine a rate of change of an angle of a direction of the at least two points with respect to a longitudinal distance of the path.